User's Manual

Geo MACRO Drive User and Reference Manual

Introduction 1

INTRODUCTION

The Geo Drive family of “bookcase”-style servo amplifiers provides many new capabilities for users.

This family of 1- and 2-axis 3-phase amplifiers, built around a common core of highly integrated IGBT-

based power circuitry, supports a wide variety of motors, power ranges, and interfaces. The 2-axis

configurations share common power input, bus, and shunt for a very economical implementation.

Three command interfaces are provided: direct-PWM, MACRO-ring, and integrated PMAC controller,

each described in following sections. In all three cases, fully digital “direct PWM” control is used. Direct

PWM control eliminates D-to-A and A-to-D conversion delays and noise, allowing higher gains for more

robust and responsive tuning without sacrificing stability.

All configurations provide these power-stage features:

• Direct operation off AC power mains (100 – 240 or 300 – 480 VAC, 50/60 Hz) or optional DC

power input (24 – 350 or 24 – 700 VDC)

• Integrated bus power supply including soft start and shunt regulator (external resistor required)

• Separate 24VDC input to power logic circuitry

• Complete protection: over voltage, under voltage, over temperature, PWM frequency limit,

minimum dead time, motor over temperature, short circuit, over current, input line monitor

• Ability to drive brushed and brushless permanent-magnet servo motors, or AC induction motors

• Single-digit LED display and six discrete LEDs for status information

• Optional safety relay circuitry. Please contact factory for more details and pricing.

• Easy setup with Turbo PMAC and UMAC controllers.

User Interface

The Geo Drive family is available in different versions distinguished by their user interface styles.

Geo MACRO Drives

The Geo MACRO Drive interfaces to the controller through the 125 Mbit/sec MACRO ring, with

either a fiber-optic or Ethernet electrical medium, accepting numerical command values for direct

PWM voltages and returning numerical feedback values for phase current, motor position, and status.

It accepts many types of position feedback to the master controller, as well as axis flags (limits, home,

and user) and general-purpose analog and digital I/O. Typically, the Geo MACRO Drives are

commanded by either a PMAC2 Ultralite bus-expansion board, or a UMAC rack-mounted controller

with a MACRO-interface card. This provides a highly distributed hardware solution, greatly

simplifying system wiring, while maintaining a highly centralized software solution, keeping system

programming simple.

• Choices for main feedback for each axis: A/B quadrature encoder, sinusoidal encoder with

EnDat

or Hiperface

, SSI encoder, resolver

• Secondary A/B quadrature encoder for each axis

• General-purpose isolated digital I/O: 4 in, 4 out at 24VDC

• 2 optional A/D converters, 12- or 16-bit resolution

Note:

Geo MACRO is not using the regular 8-axis or 16-axis MACRO station CPU.

A new MACRO CPU was developed for the Geo MACRO drive.